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<div class="title">KeyFrame.h</div>  </div>
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<a href="_key_frame_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef KEYFRAME_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define KEYFRAME_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_map_point_8h.html">MapPoint.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;../Thirdparty/DBoW2/DBoW2/BowVector.h&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;../Thirdparty/DBoW2/DBoW2/FeatureVector.h&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_bextractor_8h.html">ORBextractor.h</a>&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_frame_8h.html">Frame.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_key_frame_database_8h.html">KeyFrameDatabase.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_serializer_8h.html">Serializer.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;boost/serialization/access.hpp&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">class </span>Map;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">class </span>MapPoint;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">class </span>Frame;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">class </span>KeyFrameDatabase;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">   79</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;{</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3c33a6c79533849d367db9e85fe98c14">KeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;F, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">KeyFrameDatabase</a>* pKFDB);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">// Pose functions</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa799150fa33f3b9a404226454b96c95a">SetPose</a>(<span class="keyword">const</span> cv::Mat &amp;<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8dc31ef9a08d34ecb196f3e58a2c09b9">Tcw</a>);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a49b5e212c1335cf585eaf6bbc4fed85c">GetPose</a>();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a03be061f5dac65d360d65c6e8a63532f">GetPoseInverse</a>();</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a535f0f7db34aca7c55ddadc2ad9f4a5f">GetCameraCenter</a>();</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="comment">//cv::Mat GetStereoCenter();</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a43cdfc1cebc87d949ae6e9a0202b0f1b">GetRotation</a>();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a6f1426dc5447170df37c31db40edef14">GetTranslation</a>();</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="comment">// Bag of Words Representation</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac376017c23823c05a6bb851ffb2fdd8f">ComputeBoW</a>();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="comment">// Covisibility graph functions</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8d21a23485b7c104a73d6ad3cccf4e93">AddConnection</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF, <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;weight);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0a2e676f5e594cf9330e197a2c7df378">EraseConnection</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afe7026956c91d4e0a01812be9dc7e8d5">UpdateConnections</a>();</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a09cb8502509c136536bf8d45793f8872">UpdateBestCovisibles</a>();</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    std::set&lt;KeyFrame *&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#af4ffdf4441477a36c42d6605c573f1cf">GetConnectedKeyFrames</a>();</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    std::vector&lt;KeyFrame* &gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9315d396634f6637f70f716336777b8d">GetVectorCovisibleKeyFrames</a>();</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    std::vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2ecb2df01af804fb727c93948a28475f">GetBestCovisibilityKeyFrames</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac9b6948404d0ade2779335708cd443b9">N</a>);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    std::vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7047bffbf130b00dd0270df99874f8a1">GetCovisiblesByWeight</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;w);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab10fd3aab6431face352a930961ff713">GetWeight</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="comment">// Spanning tree functions</span></div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2394adfb627d9cf87ed8da78f6b0d709">AddChild</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aefdd69627fd6a204a6ef4539303b81f6">EraseChild</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3232df2495062749da1344db3e5a487f">ChangeParent</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    std::set&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a618ddd51eab47bf1d84a21d2e818a787">GetChilds</a>();</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a660cfc9a6ccf87e5497356d0d98ef06f">GetParent</a>();</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2276fdbae634194e790878adebba7861">hasChild</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="comment">// Loop Edges</span></div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aca519e7486b0e6f1fd6c98d7ced920b8">AddLoopEdge</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    std::set&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab3109e85b0ab224efdc23e51b5d2c3fa">GetLoopEdges</a>();</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="comment">// MapPoint observation functions</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a16ea4f0cfa1ca411bb3382107fe69d2d">AddMapPoint</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &amp;idx);</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2fd38a2bca9f5ced2f1f7501b8046195">EraseMapPointMatch</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> &amp;idx);</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2fd38a2bca9f5ced2f1f7501b8046195">EraseMapPointMatch</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP);</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a35779a4eb4f5cec346780bbbdf377298">ReplaceMapPointMatch</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> &amp;idx, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP);</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    std::set&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a09cb77a8377be3fa8c85c7b5ee45e913">GetMapPoints</a>();</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    std::vector&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aabc5f6491c32999d9f546669737547bf">GetMapPointMatches</a>();</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a729cbf2c84db5cbfdda98a9612f8cd0b">TrackedMapPoints</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;minObs);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab85915f3e647334634d8a4d489c63ffd">GetMapPoint</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> &amp;idx);</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; 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   <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab3be661e9ce7fb1809bb39a5e6fde7fd">IsInImage</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;x, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;y) <span class="keyword">const</span>;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="comment">// Enable/Disable bad flag changes</span></div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa64c7adb5f80f260cb7e997f68881b09">SetNotErase</a>();</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9424cf54c979bc87df12b48e3827e834">SetErase</a>();</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="comment">// Set/check bad flag</span></div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a365ec4d06acbbcd668aa5a069c69fdaa">SetBadFlag</a>();</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a95c437e42b4894a4acc9f05af61e9963">isBad</a>();</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="comment">// Compute Scene Depth (q=2 median). Used in monocular.</span></div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa4c5f9ea38d377cfa70d441e184803ae">ComputeSceneMedianDepth</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> q);</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;</div><div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ad2d0287d1ca4a91cd9d684754c84a08b">  464</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ad2d0287d1ca4a91cd9d684754c84a08b">weightComp</a>( <span class="keywordtype">int</span> a, <span class="keywordtype">int</span> b){</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">return</span> a&gt;b;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    }</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;</div><div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a921334deb73b3103f5a78322eab9bc99">  474</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a921334deb73b3103f5a78322eab9bc99">lId</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF2){</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <span class="keywordflow">return</span> pKF1-&gt;<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1e3d56caca4e4cc372c36a3270d490c7">mnId</a>&lt;pKF2-&gt;<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1e3d56caca4e4cc372c36a3270d490c7">mnId</a>;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    }</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a4fd4bcef13a79d08e78307cc3d77349b">buildObservations</a>();</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="comment">// The following variables are accesed from only 1 thread or never change (no mutex needed).</span></div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00488"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#acb0d220936541a8afc020a65aa675559">  488</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#acb0d220936541a8afc020a65aa675559">nNextId</a>;</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;</div><div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1e3d56caca4e4cc372c36a3270d490c7">  491</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1e3d56caca4e4cc372c36a3270d490c7">mnId</a>;</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;</div><div class="line"><a name="l00494"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a75ad29c06d8c969a341d9f633b43569e">  494</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a75ad29c06d8c969a341d9f633b43569e">mnFrameId</a>;</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;</div><div class="line"><a name="l00497"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab4fa3d61a524547cfe2be2523d199833">  497</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab4fa3d61a524547cfe2be2523d199833">mTimeStamp</a>;</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="comment">// Grid (to speed up feature matching)</span></div><div class="line"><a name="l00501"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7fe0d03aabb1643abb8f4eef33fdf95a">  501</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7fe0d03aabb1643abb8f4eef33fdf95a">mnGridCols</a>;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;</div><div class="line"><a name="l00504"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afb859eb91a2365180b006a185aa36ba6">  504</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afb859eb91a2365180b006a185aa36ba6">mnGridRows</a>;</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;</div><div class="line"><a name="l00507"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ad664a3275b80e901f3fa290ad7804e">  507</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ad664a3275b80e901f3fa290ad7804e">mfGridElementWidthInv</a>;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;</div><div class="line"><a name="l00510"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a89412cd7a6d467c262a7c3a584c81990">  510</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a89412cd7a6d467c262a7c3a584c81990">mfGridElementHeightInv</a>;</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="comment">// Variables used by the tracking</span></div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;</div><div class="line"><a name="l00515"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1c775159303dc3435fc05e73f30f2865">  515</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1c775159303dc3435fc05e73f30f2865">mnTrackReferenceForFrame</a>;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;</div><div class="line"><a name="l00518"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2bad332e7057e8f59d630e78c7994129">  518</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2bad332e7057e8f59d630e78c7994129">mnFuseTargetForKF</a>;</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    <span class="comment">// Variables used by the local mapping</span></div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;</div><div class="line"><a name="l00523"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a75767b3e2e5f8eb4b4b73cba161b097b">  523</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a75767b3e2e5f8eb4b4b73cba161b097b">mnBALocalForKF</a>;</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;</div><div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a484457e131f76713de4dc4e0bc9b5fed">  526</a></span>&#160; 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   <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0b1f8023efe8ddf58ac5d1d2cf41c0cf">mnRelocWords</a>;</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;</div><div class="line"><a name="l00545"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a78f768a3601ac95f99dff3fd511f2a6e">  545</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a78f768a3601ac95f99dff3fd511f2a6e">mRelocScore</a>;</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    <span class="comment">// Variables used by loop closing</span></div><div class="line"><a name="l00549"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac9bdd885bb078b5e1910c2317e9aa112">  549</a></span>&#160;<span class="comment"></span>    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac9bdd885bb078b5e1910c2317e9aa112">mTcwGBA</a>;</div><div class="line"><a name="l00551"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a4a6fb84afa3701dcc6b1e3e76ccb36fa">  551</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a4a6fb84afa3701dcc6b1e3e76ccb36fa">mTcwBefGBA</a>;</div><div class="line"><a name="l00553"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a31b686c81674d0248b5f7dabdfd58ecb">  553</a></span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a31b686c81674d0248b5f7dabdfd58ecb">mnBAGlobalForKF</a>;</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <span class="comment">// Calibration parameters</span></div><div class="line"><a name="l00557"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a16a3c245370ba4efb5b473059c7f4362">  557</a></span>&#160;<span class="comment"></span>    <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a951e9ac5670b8543a7386dee5714da0c">fx</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab1acd1b8dad098299d350f67dc4517c0">fy</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a70011d4f3a151dd374c684e258aab4a8">cx</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae78735c57b92b2d5960ed21c97dfe6a8">cy</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a00ce06c4d206f7ddb1daeeb7c43eb074">invfx</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7b96f772fad3b9b816dae9f8a719a15d">invfy</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a5653a9c7ccbb7703a131e0bff11c1f60">mbf</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ad155ef1d46eacccd088a55760926cf">mb</a>, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a16a3c245370ba4efb5b473059c7f4362">mThDepth</a>;</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; 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   vector&lt;cv::Vec3b&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a71410c456b6354264ce0369883d96459">vRgb</a>;</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="comment">//BoW</span></div><div class="line"><a name="l00579"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a70cb0dee48e804c5b1f30afd0ce99787">  579</a></span>&#160;<span class="comment"></span>    <a class="code" href="class_d_bo_w2_1_1_bow_vector.html">DBoW2::BowVector</a> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a70cb0dee48e804c5b1f30afd0ce99787">mBowVec</a>;</div><div class="line"><a name="l00581"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3588bf0a927e8ab838c614565ee7de20">  581</a></span>&#160;    <a class="code" href="class_d_bo_w2_1_1_feature_vector.html">DBoW2::FeatureVector</a> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3588bf0a927e8ab838c614565ee7de20">mFeatVec</a>;</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; 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   <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab96accf480c4bbc3212efb47278db8c5">mnMinY</a>;</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;</div><div class="line"><a name="l00614"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a677fd210bec35232bda003b543d0acfc">  614</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a677fd210bec35232bda003b543d0acfc">mnMaxX</a>;</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;</div><div class="line"><a name="l00617"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ababbbd404314965b13a51e6414dce6ad">  617</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ababbbd404314965b13a51e6414dce6ad">mnMaxY</a>;</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;</div><div class="line"><a name="l00622"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afcb8246d60511b756ba241de680e96ac">  622</a></span>&#160;    <span class="keyword">const</span> cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afcb8246d60511b756ba241de680e96ac">mK</a>;</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="comment">// The following variables need to be accessed trough a mutex to be thread safe.</span></div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <span class="comment">// SE3 Pose and camera center</span></div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;</div><div class="line"><a name="l00638"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8dc31ef9a08d34ecb196f3e58a2c09b9">  638</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8dc31ef9a08d34ecb196f3e58a2c09b9">Tcw</a>;</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;</div><div class="line"><a name="l00644"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a769de03e37e9531ab43625250287ff8c">  644</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a769de03e37e9531ab43625250287ff8c">Twc</a>;</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;</div><div class="line"><a name="l00650"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3044f098f2b7d25b33b180b20c5a5fa6">  650</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3044f098f2b7d25b33b180b20c5a5fa6">Ow</a>;</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <span class="comment">// MapPoints associated to keypoints</span></div><div class="line"><a name="l00656"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a777aab9cb7c1fd8e83f143e77a9f1b03">  656</a></span>&#160;    std::vector&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a777aab9cb7c1fd8e83f143e77a9f1b03">mvpMapPoints</a>;</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    <span class="comment">// BoW</span></div><div class="line"><a name="l00664"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0d0f82c40703deb82fbc593d9e17ea1a">  664</a></span>&#160;<span class="comment"></span>    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">KeyFrameDatabase</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0d0f82c40703deb82fbc593d9e17ea1a">mpKeyFrameDB</a>;</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;</div><div class="line"><a name="l00670"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab268c7bd221fb11554a9f21f56a5550a">  670</a></span>&#160;    <a class="code" href="class_d_bo_w2_1_1_templated_vocabulary.html">ORBVocabulary</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab268c7bd221fb11554a9f21f56a5550a">mpORBvocabulary</a>;</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    <span class="comment">// Grid over the image to speed up feature matching</span></div><div class="line"><a name="l00673"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa01e44ecc9b907b3f85094d84de08cb8">  673</a></span>&#160;    std::vector&lt; std::vector &lt;std::vector&lt;size_t&gt; &gt; &gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa01e44ecc9b907b3f85094d84de08cb8">mGrid</a>;</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;</div><div class="line"><a name="l00681"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a6a057195e3e9e7d3f08b97b6366e9f81">  681</a></span>&#160;    std::map&lt;KeyFrame*,int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a6a057195e3e9e7d3f08b97b6366e9f81">mConnectedKeyFrameWeights</a>;</div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;</div><div class="line"><a name="l00684"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#af4a83f5b32cf53c0ad87702226b9dff8">  684</a></span>&#160;    std::vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#af4a83f5b32cf53c0ad87702226b9dff8">mvpOrderedConnectedKeyFrames</a>;</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;</div><div class="line"><a name="l00687"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aeac0492454556dc98bb6bd895acfec9b">  687</a></span>&#160;    std::vector&lt;int&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aeac0492454556dc98bb6bd895acfec9b">mvOrderedWeights</a>;</div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;</div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    <span class="comment">// Spanning Tree and Loop Edges</span></div><div class="line"><a name="l00695"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ad3ef1653d6cfa622994bd2c1bd67c1">  695</a></span>&#160;<span class="comment"></span>    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ad3ef1653d6cfa622994bd2c1bd67c1">mbFirstConnection</a>;</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;</div><div class="line"><a name="l00700"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a94bbb0261caf3f1ed0c434c9fca1e886">  700</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a94bbb0261caf3f1ed0c434c9fca1e886">mpParent</a>;</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;</div><div class="line"><a name="l00712"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac647a33b4a6d158b640c5482ed57bbfe">  712</a></span>&#160;    std::set&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac647a33b4a6d158b640c5482ed57bbfe">mspChildrens</a>;</div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;</div><div class="line"><a name="l00723"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a64c0b63cb66f5ca99639c6c54aa67e1b">  723</a></span>&#160;    std::set&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a64c0b63cb66f5ca99639c6c54aa67e1b">mspLoopEdges</a>;</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    <span class="comment">// Bad flags</span></div><div class="line"><a name="l00732"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aecf677dc6fdd14e6122d0f5e09c01850">  732</a></span>&#160;<span class="comment"></span>    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aecf677dc6fdd14e6122d0f5e09c01850">mbNotErase</a>;</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;</div><div class="line"><a name="l00743"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae282bb579271984c9ee0d55bac7f5dee">  743</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae282bb579271984c9ee0d55bac7f5dee">mbToBeErased</a>;</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;</div><div class="line"><a name="l00754"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ed66ca840fb2288ee6b700bb4fc6858">  754</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ed66ca840fb2288ee6b700bb4fc6858">mbBad</a>;    </div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;</div><div class="line"><a name="l00760"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab1fd59a0e3f3c32cf90c03a087ffd31b">  760</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab1fd59a0e3f3c32cf90c03a087ffd31b">mpMap</a>;</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;</div><div class="line"><a name="l00765"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ca0141e2657237c4b7847512585cb49">  765</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ca0141e2657237c4b7847512585cb49">mMutexPose</a>;</div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;</div><div class="line"><a name="l00786"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a30315bba6d290ec12227cf9c0aed5df1">  786</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a30315bba6d290ec12227cf9c0aed5df1">mMutexConnections</a>;</div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;</div><div class="line"><a name="l00791"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#acb19a0cf32ad590df9794f77585e9ce8">  791</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#acb19a0cf32ad590df9794f77585e9ce8">mMutexFeatures</a>;</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3c33a6c79533849d367db9e85fe98c14">KeyFrame</a>();</div><div class="line"><a name="l00795"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">  795</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div><div class="line"><a name="l00796"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ad3f5346f31d572dd2ab4fcd658de5bc4">  796</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_serializer.html">Serializer</a>;</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Archivo&gt; <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a03bbcbd5f862204ac10985a51d8cd74f">serialize</a>(Archivo&amp;, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;};</div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;<span class="preprocessor">#endif // KEYFRAME_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a7b96f772fad3b9b816dae9f8a719a15d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7b96f772fad3b9b816dae9f8a719a15d">ORB_SLAM2::KeyFrame::invfy</a></div><div class="ttdeci">const float invfy</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a1e3d56caca4e4cc372c36a3270d490c7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1e3d56caca4e4cc372c36a3270d490c7">ORB_SLAM2::KeyFrame::mnId</a></div><div class="ttdeci">long unsigned int mnId</div><div class="ttdoc">Id del keyFrame. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:491</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab85915f3e647334634d8a4d489c63ffd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab85915f3e647334634d8a4d489c63ffd">ORB_SLAM2::KeyFrame::GetMapPoint</a></div><div class="ttdeci">MapPoint * GetMapPoint(const size_t &amp;idx)</div><div class="ttdoc">Devuelve el punto 3D a partir del índice. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:300</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa799150fa33f3b9a404226454b96c95a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa799150fa33f3b9a404226454b96c95a">ORB_SLAM2::KeyFrame::SetPose</a></div><div class="ttdeci">void SetPose(const cv::Mat &amp;Tcw)</div><div class="ttdoc">Establece Tcw, la pose del keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:84</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html">ORB_SLAM2::Frame</a></div><div class="ttdoc">Frame representa un cuadro, una imagen, con los puntos singulares detectados. </div><div class="ttdef"><b>Definition:</b> Frame.h:59</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a769de03e37e9531ab43625250287ff8c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a769de03e37e9531ab43625250287ff8c">ORB_SLAM2::KeyFrame::Twc</a></div><div class="ttdeci">cv::Mat Twc</div><div class="ttdoc">Matriz de 4x4 de rototraslación en coordenadas homogéneas, con la transformación inversa de Tcw...</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:644</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ae3446f5fd861f1e51faf9191c1eb75ab"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae3446f5fd861f1e51faf9191c1eb75ab">ORB_SLAM2::KeyFrame::mnLoopQuery</a></div><div class="ttdeci">long unsigned int mnLoopQuery</div><div class="ttdoc">Variable efímera usadas por la base de datos de keyframes. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:530</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ae78735c57b92b2d5960ed21c97dfe6a8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae78735c57b92b2d5960ed21c97dfe6a8">ORB_SLAM2::KeyFrame::cy</a></div><div class="ttdeci">const float cy</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="_map_point_8h_html"><div class="ttname"><a href="_map_point_8h.html">MapPoint.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a70cb0dee48e804c5b1f30afd0ce99787"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a70cb0dee48e804c5b1f30afd0ce99787">ORB_SLAM2::KeyFrame::mBowVec</a></div><div class="ttdeci">DBoW2::BowVector mBowVec</div><div class="ttdoc">Vector de BoW obtenidos de los descriptores del keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:579</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a30315bba6d290ec12227cf9c0aed5df1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a30315bba6d290ec12227cf9c0aed5df1">ORB_SLAM2::KeyFrame::mMutexConnections</a></div><div class="ttdeci">std::mutex mMutexConnections</div><div class="ttdoc">mutex de acceso al grafo de conexiones. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:786</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a6a057195e3e9e7d3f08b97b6366e9f81"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a6a057195e3e9e7d3f08b97b6366e9f81">ORB_SLAM2::KeyFrame::mConnectedKeyFrameWeights</a></div><div class="ttdeci">std::map&lt; KeyFrame *, int &gt; mConnectedKeyFrameWeights</div><div class="ttdoc">Mapa de covisibilidad, que vincula los keyframes covisibles con sus pesos. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:681</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a9424cf54c979bc87df12b48e3827e834"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9424cf54c979bc87df12b48e3827e834">ORB_SLAM2::KeyFrame::SetErase</a></div><div class="ttdeci">void SetErase()</div><div class="ttdoc">Libera el keyframe previamente marcado con KeyFrame::SetNotErase. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:457</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_bow_vector_html"><div class="ttname"><a href="class_d_bo_w2_1_1_bow_vector.html">DBoW2::BowVector</a></div><div class="ttdoc">Vector of words to represent images. </div><div class="ttdef"><b>Definition:</b> BowVector.h:56</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a9ed66ca840fb2288ee6b700bb4fc6858"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ed66ca840fb2288ee6b700bb4fc6858">ORB_SLAM2::KeyFrame::mbBad</a></div><div class="ttdeci">bool mbBad</div><div class="ttdoc">Flag de eliminación. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:754</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a70011d4f3a151dd374c684e258aab4a8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a70011d4f3a151dd374c684e258aab4a8">ORB_SLAM2::KeyFrame::cx</a></div><div class="ttdeci">const float cx</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a43cdfc1cebc87d949ae6e9a0202b0f1b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a43cdfc1cebc87d949ae6e9a0202b0f1b">ORB_SLAM2::KeyFrame::GetRotation</a></div><div class="ttdeci">cv::Mat GetRotation()</div><div class="ttdoc">Lee la matriz rotación 3D, obtenida de Tcw. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:127</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab268c7bd221fb11554a9f21f56a5550a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab268c7bd221fb11554a9f21f56a5550a">ORB_SLAM2::KeyFrame::mpORBvocabulary</a></div><div class="ttdeci">ORBVocabulary * mpORBvocabulary</div><div class="ttdoc">Vocabulario BoW para ORB. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:670</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aefdd69627fd6a204a6ef4539303b81f6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aefdd69627fd6a204a6ef4539303b81f6">ORB_SLAM2::KeyFrame::EraseChild</a></div><div class="ttdeci">void EraseChild(KeyFrame *pKF)</div><div class="ttdoc">Borra un keyframe hijo del grafo KeyFrame::mspChildrens. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:406</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab1acd1b8dad098299d350f67dc4517c0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab1acd1b8dad098299d350f67dc4517c0">ORB_SLAM2::KeyFrame::fy</a></div><div class="ttdeci">const float fy</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa057f2902cc7910343c5d452d33cb39f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa057f2902cc7910343c5d452d33cb39f">ORB_SLAM2::KeyFrame::GetFeaturesInArea</a></div><div class="ttdeci">std::vector&lt; size_t &gt; GetFeaturesInArea(const float &amp;x, const float &amp;y, const float &amp;r) const</div><div class="ttdoc">Filtra puntos singulares que estén en el cuadrado de centro x,y y lado 2 r. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:613</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ae7ca053915d4aaba66c1fd5962182d14"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae7ca053915d4aaba66c1fd5962182d14">ORB_SLAM2::KeyFrame::mfLogScaleFactor</a></div><div class="ttdeci">const float mfLogScaleFactor</div><div class="ttdoc">Logaritmo del factor de escala. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:595</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a320d543b9585072c264b4e6f7e334bad"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a320d543b9585072c264b4e6f7e334bad">ORB_SLAM2::KeyFrame::mvInvLevelSigma2</a></div><div class="ttdeci">const std::vector&lt; float &gt; mvInvLevelSigma2</div><div class="ttdoc">Inversa de sigma cuadrado para cada nivel de la pirámide. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:604</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a95c437e42b4894a4acc9f05af61e9963"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a95c437e42b4894a4acc9f05af61e9963">ORB_SLAM2::KeyFrame::isBad</a></div><div class="ttdeci">bool isBad()</div><div class="ttdoc">Consulta la marca mbBad. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:591</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a16ea4f0cfa1ca411bb3382107fe69d2d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a16ea4f0cfa1ca411bb3382107fe69d2d">ORB_SLAM2::KeyFrame::AddMapPoint</a></div><div class="ttdeci">void AddMapPoint(MapPoint *pMP, const size_t &amp;idx)</div><div class="ttdoc">Agrega un punto 3D a la lista de puntos observados. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:227</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab96accf480c4bbc3212efb47278db8c5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab96accf480c4bbc3212efb47278db8c5">ORB_SLAM2::KeyFrame::mnMinY</a></div><div class="ttdeci">const int mnMinY</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:611</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a7047bffbf130b00dd0270df99874f8a1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7047bffbf130b00dd0270df99874f8a1">ORB_SLAM2::KeyFrame::GetCovisiblesByWeight</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; GetCovisiblesByWeight(const int &amp;w)</div><div class="ttdoc">Devuelve los mejores elementos del vector de keyframes covisibles, con peso mejor al de referencia...</div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:201</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a3044f098f2b7d25b33b180b20c5a5fa6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3044f098f2b7d25b33b180b20c5a5fa6">ORB_SLAM2::KeyFrame::Ow</a></div><div class="ttdeci">cv::Mat Ow</div><div class="ttdoc">Centro de la cámara. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:650</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a9315d396634f6637f70f716336777b8d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9315d396634f6637f70f716336777b8d">ORB_SLAM2::KeyFrame::GetVectorCovisibleKeyFrames</a></div><div class="ttdeci">std::vector&lt; KeyFrame *&gt; GetVectorCovisibleKeyFrames()</div><div class="ttdoc">Devuelve el vector de keyframes covisibles KeyFrame::mvpOrderedConnectedKeyFrames ...</div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:185</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_feature_vector_html"><div class="ttname"><a href="class_d_bo_w2_1_1_feature_vector.html">DBoW2::FeatureVector</a></div><div class="ttdoc">Vector of nodes with indexes of local features. </div><div class="ttdef"><b>Definition:</b> FeatureVector.h:21</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a2fd38a2bca9f5ced2f1f7501b8046195"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2fd38a2bca9f5ced2f1f7501b8046195">ORB_SLAM2::KeyFrame::EraseMapPointMatch</a></div><div class="ttdeci">void EraseMapPointMatch(const size_t &amp;idx)</div><div class="ttdoc">Reemplaza el punto del índice por NULL en el vector mvpMapPoints. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:233</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a4a6fb84afa3701dcc6b1e3e76ccb36fa"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a4a6fb84afa3701dcc6b1e3e76ccb36fa">ORB_SLAM2::KeyFrame::mTcwBefGBA</a></div><div class="ttdeci">cv::Mat mTcwBefGBA</div><div class="ttdoc">Variable usada en cierre de bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:551</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a7fe0d03aabb1643abb8f4eef33fdf95a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7fe0d03aabb1643abb8f4eef33fdf95a">ORB_SLAM2::KeyFrame::mnGridCols</a></div><div class="ttdeci">const int mnGridCols</div><div class="ttdoc">Dimensiones de la grilla del frame para acelerar macheo. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:501</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a3232df2495062749da1344db3e5a487f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3232df2495062749da1344db3e5a487f">ORB_SLAM2::KeyFrame::ChangeParent</a></div><div class="ttdeci">void ChangeParent(KeyFrame *pKF)</div><div class="ttdoc">Cambia el padre del keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:412</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ac98d07dd8f7b70e16ccb9a01abf56b9c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">ORB_SLAM2::KeyFrame::access</a></div><div class="ttdeci">friend class boost::serialization::access</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:795</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a89412cd7a6d467c262a7c3a584c81990"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a89412cd7a6d467c262a7c3a584c81990">ORB_SLAM2::KeyFrame::mfGridElementHeightInv</a></div><div class="ttdeci">const float mfGridElementHeightInv</div><div class="ttdoc">La inversa del alto de la grilla en píxeles. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:510</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a3c33a6c79533849d367db9e85fe98c14"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3c33a6c79533849d367db9e85fe98c14">ORB_SLAM2::KeyFrame::KeyFrame</a></div><div class="ttdeci">KeyFrame()</div><div class="ttdoc">Serialización agregada para guardar y cargar keyframes. </div><div class="ttdef"><b>Definition:</b> Serializer.cpp:199</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a777aab9cb7c1fd8e83f143e77a9f1b03"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a777aab9cb7c1fd8e83f143e77a9f1b03">ORB_SLAM2::KeyFrame::mvpMapPoints</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; mvpMapPoints</div><div class="ttdoc">Puntos del mapa asociado a los puntos singulares. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:656</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a40712f54ab899a6dbd795405a4984ab5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a40712f54ab899a6dbd795405a4984ab5">ORB_SLAM2::KeyFrame::mLoopScore</a></div><div class="ttdeci">float mLoopScore</div><div class="ttdoc">Variable efímera usadas por la base de datos de keyframes. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:536</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab1fd59a0e3f3c32cf90c03a087ffd31b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab1fd59a0e3f3c32cf90c03a087ffd31b">ORB_SLAM2::KeyFrame::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa donde se encuentra el keyFrame. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:760</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa4c5f9ea38d377cfa70d441e184803ae"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa4c5f9ea38d377cfa70d441e184803ae">ORB_SLAM2::KeyFrame::ComputeSceneMedianDepth</a></div><div class="ttdeci">float ComputeSceneMedianDepth(const int q)</div><div class="ttdoc">Computa la profundidad del punto mediano de la escena. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:677</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a7ad664a3275b80e901f3fa290ad7804e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ad664a3275b80e901f3fa290ad7804e">ORB_SLAM2::KeyFrame::mfGridElementWidthInv</a></div><div class="ttdeci">const float mfGridElementWidthInv</div><div class="ttdoc">La inversa del ancho de la grilla en píxeles. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:507</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a49b5e212c1335cf585eaf6bbc4fed85c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a49b5e212c1335cf585eaf6bbc4fed85c">ORB_SLAM2::KeyFrame::GetPose</a></div><div class="ttdeci">cv::Mat GetPose()</div><div class="ttdoc">Lee Tcw, la pose del keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:101</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a03bbcbd5f862204ac10985a51d8cd74f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a03bbcbd5f862204ac10985a51d8cd74f">ORB_SLAM2::KeyFrame::serialize</a></div><div class="ttdeci">void serialize(Archivo &amp;, const unsigned int)</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aca519e7486b0e6f1fd6c98d7ced920b8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aca519e7486b0e6f1fd6c98d7ced920b8">ORB_SLAM2::KeyFrame::AddLoopEdge</a></div><div class="ttdeci">void AddLoopEdge(KeyFrame *pKF)</div><div class="ttdoc">Agrega un eje al grafo de covisibilidad, a partir de una detección de bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:437</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab10fd3aab6431face352a930961ff713"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab10fd3aab6431face352a930961ff713">ORB_SLAM2::KeyFrame::GetWeight</a></div><div class="ttdeci">int GetWeight(KeyFrame *pKF)</div><div class="ttdoc">Informa el peso de la conexión de un determinado keyframe covisible. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:218</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a8dc31ef9a08d34ecb196f3e58a2c09b9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8dc31ef9a08d34ecb196f3e58a2c09b9">ORB_SLAM2::KeyFrame::Tcw</a></div><div class="ttdeci">cv::Mat Tcw</div><div class="ttdoc">Matriz de 4x4 de rototraslación en coordenadas homogéneas, que expresa la pose del keyframe...</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:638</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a36d7ead1b29c188be610208f11625d24"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a36d7ead1b29c188be610208f11625d24">ORB_SLAM2::KeyFrame::mnLoopWords</a></div><div class="ttdeci">int mnLoopWords</div><div class="ttdoc">Variable efímera usadas por la base de datos de keyframes. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:533</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_templated_vocabulary_html"><div class="ttname"><a href="class_d_bo_w2_1_1_templated_vocabulary.html">DBoW2::TemplatedVocabulary</a></div><div class="ttdoc">Generic Vocabulary. </div><div class="ttdef"><b>Definition:</b> TemplatedVocabulary.h:44</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a31b686c81674d0248b5f7dabdfd58ecb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a31b686c81674d0248b5f7dabdfd58ecb">ORB_SLAM2::KeyFrame::mnBAGlobalForKF</a></div><div class="ttdeci">long unsigned int mnBAGlobalForKF</div><div class="ttdoc">Variable efímera usadas por cierre de bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:553</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_af4ffdf4441477a36c42d6605c573f1cf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#af4ffdf4441477a36c42d6605c573f1cf">ORB_SLAM2::KeyFrame::GetConnectedKeyFrames</a></div><div class="ttdeci">std::set&lt; KeyFrame * &gt; GetConnectedKeyFrames()</div><div class="ttdoc">Devuelve un conjunto de keyframes conectados a éste por el grafo esencial. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:176</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a618ddd51eab47bf1d84a21d2e818a787"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a618ddd51eab47bf1d84a21d2e818a787">ORB_SLAM2::KeyFrame::GetChilds</a></div><div class="ttdeci">std::set&lt; KeyFrame * &gt; GetChilds()</div><div class="ttdoc">Devuelve los hijos de este keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:419</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a16a3c245370ba4efb5b473059c7f4362"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a16a3c245370ba4efb5b473059c7f4362">ORB_SLAM2::KeyFrame::mThDepth</a></div><div class="ttdeci">const float mThDepth</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a484457e131f76713de4dc4e0bc9b5fed"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a484457e131f76713de4dc4e0bc9b5fed">ORB_SLAM2::KeyFrame::mnBAFixedForKF</a></div><div class="ttdeci">long unsigned int mnBAFixedForKF</div><div class="ttdoc">Variable efímera usadas por el mapeo local. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:526</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a09cb8502509c136536bf8d45793f8872"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a09cb8502509c136536bf8d45793f8872">ORB_SLAM2::KeyFrame::UpdateBestCovisibles</a></div><div class="ttdeci">void UpdateBestCovisibles()</div><div class="ttdoc">Actualiza los mejores covisibles. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:155</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ae282bb579271984c9ee0d55bac7f5dee"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae282bb579271984c9ee0d55bac7f5dee">ORB_SLAM2::KeyFrame::mbToBeErased</a></div><div class="ttdeci">bool mbToBeErased</div><div class="ttdoc">Marca el keyframe para ser borrado. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:743</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a2bad332e7057e8f59d630e78c7994129"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2bad332e7057e8f59d630e78c7994129">ORB_SLAM2::KeyFrame::mnFuseTargetForKF</a></div><div class="ttdeci">long unsigned int mnFuseTargetForKF</div><div class="ttdoc">Variable efímera usadas por Tracking. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:518</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a02b00239e47ff44e5578c2eeaf3d3cc8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a02b00239e47ff44e5578c2eeaf3d3cc8">ORB_SLAM2::KeyFrame::mnMinX</a></div><div class="ttdeci">const int mnMinX</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:608</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ababbbd404314965b13a51e6414dce6ad"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ababbbd404314965b13a51e6414dce6ad">ORB_SLAM2::KeyFrame::mnMaxY</a></div><div class="ttdeci">const int mnMaxY</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:617</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a660cfc9a6ccf87e5497356d0d98ef06f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a660cfc9a6ccf87e5497356d0d98ef06f">ORB_SLAM2::KeyFrame::GetParent</a></div><div class="ttdeci">KeyFrame * GetParent()</div><div class="ttdoc">Informa el keyframe padre. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:425</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ac376017c23823c05a6bb851ffb2fdd8f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac376017c23823c05a6bb851ffb2fdd8f">ORB_SLAM2::KeyFrame::ComputeBoW</a></div><div class="ttdeci">void ComputeBoW()</div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:73</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html">ORB_SLAM2::MapPoint</a></div><div class="ttdoc">Cada instancia representa un mapa 3D en el sistema de referencia del mapa. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:58</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa1bcd5810e62ec163a3f38ccb806d04a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa1bcd5810e62ec163a3f38ccb806d04a">ORB_SLAM2::KeyFrame::mvKeys</a></div><div class="ttdeci">const std::vector&lt; cv::KeyPoint &gt; mvKeys</div><div class="ttdoc">Puntos singulares visualizados por el keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:566</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a677fd210bec35232bda003b543d0acfc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a677fd210bec35232bda003b543d0acfc">ORB_SLAM2::KeyFrame::mnMaxX</a></div><div class="ttdeci">const int mnMaxX</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:614</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aecf677dc6fdd14e6122d0f5e09c01850"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aecf677dc6fdd14e6122d0f5e09c01850">ORB_SLAM2::KeyFrame::mbNotErase</a></div><div class="ttdeci">bool mbNotErase</div><div class="ttdoc">Señal de no borrar. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:732</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aaf6c65fc098f41ff418a65934f514ce3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aaf6c65fc098f41ff418a65934f514ce3">ORB_SLAM2::KeyFrame::mvKeysUn</a></div><div class="ttdeci">const std::vector&lt; cv::KeyPoint &gt; mvKeysUn</div><div class="ttdoc">Puntos singulares con coordenadas &quot;desdistorsionadas&quot;. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:569</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_afe7026956c91d4e0a01812be9dc7e8d5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afe7026956c91d4e0a01812be9dc7e8d5">ORB_SLAM2::KeyFrame::UpdateConnections</a></div><div class="ttdeci">void UpdateConnections()</div><div class="ttdoc">Releva la covisibilidad y crea las conexiones en el grafo de covisibilidad. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:306</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a6f1426dc5447170df37c31db40edef14"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a6f1426dc5447170df37c31db40edef14">ORB_SLAM2::KeyFrame::GetTranslation</a></div><div class="ttdeci">cv::Mat GetTranslation()</div><div class="ttdoc">Lee el vector traslación, obtenido de Tcw. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:133</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a4fd4bcef13a79d08e78307cc3d77349b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a4fd4bcef13a79d08e78307cc3d77349b">ORB_SLAM2::KeyFrame::buildObservations</a></div><div class="ttdeci">void buildObservations()</div><div class="ttdoc">Reconstruye MapPoint::mObservations y MapPoint::mObs a partir de KeyFrame::mvpMapPoints. </div><div class="ttdef"><b>Definition:</b> Serializer.cpp:225</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_abd3b2544330774672483656955e0ca03"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#abd3b2544330774672483656955e0ca03">ORB_SLAM2::KeyFrame::mnScaleLevels</a></div><div class="ttdeci">const int mnScaleLevels</div><div class="ttdoc">Cantidad de niveles de la pirámide. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:589</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a35779a4eb4f5cec346780bbbdf377298"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a35779a4eb4f5cec346780bbbdf377298">ORB_SLAM2::KeyFrame::ReplaceMapPointMatch</a></div><div class="ttdeci">void ReplaceMapPointMatch(const size_t &amp;idx, MapPoint *pMP)</div><div class="ttdoc">Reemplaza un elemento de los puntos observador por un nuevo punto 3D. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:247</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa64c7adb5f80f260cb7e997f68881b09"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa64c7adb5f80f260cb7e997f68881b09">ORB_SLAM2::KeyFrame::SetNotErase</a></div><div class="ttdeci">void SetNotErase()</div><div class="ttdoc">Previene la eliminaqción del keyframe mientras se utiliza en una detección de bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:451</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab3be661e9ce7fb1809bb39a5e6fde7fd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab3be661e9ce7fb1809bb39a5e6fde7fd">ORB_SLAM2::KeyFrame::IsInImage</a></div><div class="ttdeci">bool IsInImage(const float &amp;x, const float &amp;y) const</div><div class="ttdoc">Verifica si la coordenada está dentro del área de la imagen. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:654</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab4fa3d61a524547cfe2be2523d199833"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab4fa3d61a524547cfe2be2523d199833">ORB_SLAM2::KeyFrame::mTimeStamp</a></div><div class="ttdeci">const double mTimeStamp</div><div class="ttdoc">Time stamp. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:497</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a64c0b63cb66f5ca99639c6c54aa67e1b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a64c0b63cb66f5ca99639c6c54aa67e1b">ORB_SLAM2::KeyFrame::mspLoopEdges</a></div><div class="ttdeci">std::set&lt; KeyFrame * &gt; mspLoopEdges</div><div class="ttdoc">KeyFrames que participan de un extremo de un bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:723</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a03be061f5dac65d360d65c6e8a63532f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a03be061f5dac65d360d65c6e8a63532f">ORB_SLAM2::KeyFrame::GetPoseInverse</a></div><div class="ttdeci">cv::Mat GetPoseInverse()</div><div class="ttdoc">Lee Twc, la matriz inversa de la pose. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:107</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aeac0492454556dc98bb6bd895acfec9b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aeac0492454556dc98bb6bd895acfec9b">ORB_SLAM2::KeyFrame::mvOrderedWeights</a></div><div class="ttdeci">std::vector&lt; int &gt; mvOrderedWeights</div><div class="ttdoc">Pesos de los keyframes de KeyFrame::mvpOrderedConnectedKeyFrames. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:687</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a00ce06c4d206f7ddb1daeeb7c43eb074"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a00ce06c4d206f7ddb1daeeb7c43eb074">ORB_SLAM2::KeyFrame::invfx</a></div><div class="ttdeci">const float invfx</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_afb859eb91a2365180b006a185aa36ba6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afb859eb91a2365180b006a185aa36ba6">ORB_SLAM2::KeyFrame::mnGridRows</a></div><div class="ttdeci">const int mnGridRows</div><div class="ttdoc">Dimensiones de la grilla del frame para acelerar macheo. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:504</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ab3109e85b0ab224efdc23e51b5d2c3fa"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ab3109e85b0ab224efdc23e51b5d2c3fa">ORB_SLAM2::KeyFrame::GetLoopEdges</a></div><div class="ttdeci">std::set&lt; KeyFrame * &gt; GetLoopEdges()</div><div class="ttdoc">Informa los keyframes conectados con ejes de bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:445</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a8d21a23485b7c104a73d6ad3cccf4e93"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8d21a23485b7c104a73d6ad3cccf4e93">ORB_SLAM2::KeyFrame::AddConnection</a></div><div class="ttdeci">void AddConnection(KeyFrame *pKF, const int &amp;weight)</div><div class="ttdoc">Conecta el keyframe con otro en el grafo de covisibilidad. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:139</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a028c2a2f0f737ec09719712c84339748"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a028c2a2f0f737ec09719712c84339748">ORB_SLAM2::KeyFrame::mnRelocQuery</a></div><div class="ttdeci">long unsigned int mnRelocQuery</div><div class="ttdoc">Variable efímera usadas por por la base de datos de keyframes. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:539</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a3588bf0a927e8ab838c614565ee7de20"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a3588bf0a927e8ab838c614565ee7de20">ORB_SLAM2::KeyFrame::mFeatVec</a></div><div class="ttdeci">DBoW2::FeatureVector mFeatVec</div><div class="ttdoc">Vector de Features de DBoW2. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:581</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a951e9ac5670b8543a7386dee5714da0c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a951e9ac5670b8543a7386dee5714da0c">ORB_SLAM2::KeyFrame::fx</a></div><div class="ttdeci">const float fx</div><div class="ttdoc">Parámetros de calibración. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aab9c8e2e4aa4757ad0be28b2f49a3cf7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aab9c8e2e4aa4757ad0be28b2f49a3cf7">ORB_SLAM2::KeyFrame::mTcp</a></div><div class="ttdeci">cv::Mat mTcp</div><div class="ttdoc">Pose de cámara relativa a su padre. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:585</div></div>
<div class="ttc" id="_o_r_b_vocabulary_8h_html"><div class="ttname"><a href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a8cdc02a7bccd3b75e61351a1f14f9c04"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a8cdc02a7bccd3b75e61351a1f14f9c04">ORB_SLAM2::KeyFrame::mvScaleFactors</a></div><div class="ttdeci">const std::vector&lt; float &gt; mvScaleFactors</div><div class="ttdoc">Factores de escala absolutos para cada nivel de la pirámide. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:598</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_af4a83f5b32cf53c0ad87702226b9dff8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#af4a83f5b32cf53c0ad87702226b9dff8">ORB_SLAM2::KeyFrame::mvpOrderedConnectedKeyFrames</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; mvpOrderedConnectedKeyFrames</div><div class="ttdoc">Keyframes covisibles ordenados por peso, actualizado vía KeyFrame::UpdateBestCovisibles. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:684</div></div>
<div class="ttc" id="_frame_8h_html"><div class="ttname"><a href="_frame_8h.html">Frame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a09cb77a8377be3fa8c85c7b5ee45e913"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a09cb77a8377be3fa8c85c7b5ee45e913">ORB_SLAM2::KeyFrame::GetMapPoints</a></div><div class="ttdeci">std::set&lt; MapPoint * &gt; GetMapPoints()</div><div class="ttdoc">Devuelve los puntos 3D observados por el keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:252</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_afcb8246d60511b756ba241de680e96ac"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#afcb8246d60511b756ba241de680e96ac">ORB_SLAM2::KeyFrame::mK</a></div><div class="ttdeci">const cv::Mat mK</div><div class="ttdoc">Matriz K de calibración de cámara. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:622</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a9ad3ef1653d6cfa622994bd2c1bd67c1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ad3ef1653d6cfa622994bd2c1bd67c1">ORB_SLAM2::KeyFrame::mbFirstConnection</a></div><div class="ttdeci">bool mbFirstConnection</div><div class="ttdoc">Estado del autómata de inicialización. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:695</div></div>
<div class="ttc" id="_key_frame_database_8h_html"><div class="ttname"><a href="_key_frame_database_8h.html">KeyFrameDatabase.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a0d0f82c40703deb82fbc593d9e17ea1a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0d0f82c40703deb82fbc593d9e17ea1a">ORB_SLAM2::KeyFrame::mpKeyFrameDB</a></div><div class="ttdeci">KeyFrameDatabase * mpKeyFrameDB</div><div class="ttdoc">Base de datos de keyframes, donde se encuentra este keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:664</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a7ca0141e2657237c4b7847512585cb49"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a7ca0141e2657237c4b7847512585cb49">ORB_SLAM2::KeyFrame::mMutexPose</a></div><div class="ttdeci">std::mutex mMutexPose</div><div class="ttdoc">mutex de acceso a la pose Tcw. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:765</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a9ad155ef1d46eacccd088a55760926cf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a9ad155ef1d46eacccd088a55760926cf">ORB_SLAM2::KeyFrame::mb</a></div><div class="ttdeci">const float mb</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ad2d0287d1ca4a91cd9d684754c84a08b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ad2d0287d1ca4a91cd9d684754c84a08b">ORB_SLAM2::KeyFrame::weightComp</a></div><div class="ttdeci">static bool weightComp(int a, int b)</div><div class="ttdoc">Compara dos pesos. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:464</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ac647a33b4a6d158b640c5482ed57bbfe"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac647a33b4a6d158b640c5482ed57bbfe">ORB_SLAM2::KeyFrame::mspChildrens</a></div><div class="ttdeci">std::set&lt; KeyFrame * &gt; mspChildrens</div><div class="ttdoc">KeyFrames hijos en el grafo. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:712</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a0a2e676f5e594cf9330e197a2c7df378"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0a2e676f5e594cf9330e197a2c7df378">ORB_SLAM2::KeyFrame::EraseConnection</a></div><div class="ttdeci">void EraseConnection(KeyFrame *pKF)</div><div class="ttdoc">Elimina del grafo de covisibilidad la conexión con el keyframe dado. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:597</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ac9bdd885bb078b5e1910c2317e9aa112"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac9bdd885bb078b5e1910c2317e9aa112">ORB_SLAM2::KeyFrame::mTcwGBA</a></div><div class="ttdeci">cv::Mat mTcwGBA</div><div class="ttdoc">Variable usada en cierre de bucle. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:549</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa01e44ecc9b907b3f85094d84de08cb8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa01e44ecc9b907b3f85094d84de08cb8">ORB_SLAM2::KeyFrame::mGrid</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; std::vector&lt; size_t &gt; &gt; &gt; mGrid</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:673</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a2276fdbae634194e790878adebba7861"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2276fdbae634194e790878adebba7861">ORB_SLAM2::KeyFrame::hasChild</a></div><div class="ttdeci">bool hasChild(KeyFrame *pKF)</div><div class="ttdoc">Indica si un keyframe es hijo de éste. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:431</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_acb19a0cf32ad590df9794f77585e9ce8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#acb19a0cf32ad590df9794f77585e9ce8">ORB_SLAM2::KeyFrame::mMutexFeatures</a></div><div class="ttdeci">std::mutex mMutexFeatures</div><div class="ttdoc">mutex de acceso a mvpMapPoints. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:791</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a0b1f8023efe8ddf58ac5d1d2cf41c0cf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a0b1f8023efe8ddf58ac5d1d2cf41c0cf">ORB_SLAM2::KeyFrame::mnRelocWords</a></div><div class="ttdeci">int mnRelocWords</div><div class="ttdoc">Variable efímera usadas por la base de datos de keyframes. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:542</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a921334deb73b3103f5a78322eab9bc99"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a921334deb73b3103f5a78322eab9bc99">ORB_SLAM2::KeyFrame::lId</a></div><div class="ttdeci">static bool lId(KeyFrame *pKF1, KeyFrame *pKF2)</div><div class="ttdoc">Compara Id. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:474</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_acb0d220936541a8afc020a65aa675559"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#acb0d220936541a8afc020a65aa675559">ORB_SLAM2::KeyFrame::nNextId</a></div><div class="ttdeci">static long unsigned int nNextId</div><div class="ttdoc">Contador para autonumeración de ids. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:488</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ac9b6948404d0ade2779335708cd443b9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ac9b6948404d0ade2779335708cd443b9">ORB_SLAM2::KeyFrame::N</a></div><div class="ttdeci">const int N</div><div class="ttdoc">Cantidad de puntos singulares. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:561</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">ORB_SLAM2::KeyFrameDatabase</a></div><div class="ttdoc">Lista invertida de KeyFrames, accesible por BoW. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a365ec4d06acbbcd668aa5a069c69fdaa"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a365ec4d06acbbcd668aa5a069c69fdaa">ORB_SLAM2::KeyFrame::SetBadFlag</a></div><div class="ttdeci">void SetBadFlag()</div><div class="ttdoc">Intenta eliminar el keyframe y marcarlo como malo. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:473</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aabc5f6491c32999d9f546669737547bf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aabc5f6491c32999d9f546669737547bf">ORB_SLAM2::KeyFrame::GetMapPointMatches</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; GetMapPointMatches()</div><div class="ttdoc">Devuelve el vector de puntos 3D. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:294</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_aa4a9029bf7ea62953ac38644756fcd3b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#aa4a9029bf7ea62953ac38644756fcd3b">ORB_SLAM2::KeyFrame::mvLevelSigma2</a></div><div class="ttdeci">const std::vector&lt; float &gt; mvLevelSigma2</div><div class="ttdoc">Sigma cuadrado (cuadrado de KeyFrame::mvScaleFactors) para cada nivel de la pirámide. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:601</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a18fbd1aa1da7c7cd68cb05d8e5b78a08"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a18fbd1aa1da7c7cd68cb05d8e5b78a08">ORB_SLAM2::KeyFrame::mfScaleFactor</a></div><div class="ttdeci">const float mfScaleFactor</div><div class="ttdoc">Factor de escala entre dos niveles consecutivos de la pirámide. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:592</div></div>
<div class="ttc" id="_serializer_8h_html"><div class="ttname"><a href="_serializer_8h.html">Serializer.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a94bbb0261caf3f1ed0c434c9fca1e886"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a94bbb0261caf3f1ed0c434c9fca1e886">ORB_SLAM2::KeyFrame::mpParent</a></div><div class="ttdeci">KeyFrame * mpParent</div><div class="ttdoc">KeyFrame padre en el grafo. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:700</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a729cbf2c84db5cbfdda98a9612f8cd0b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a729cbf2c84db5cbfdda98a9612f8cd0b">ORB_SLAM2::KeyFrame::TrackedMapPoints</a></div><div class="ttdeci">int TrackedMapPoints(const int &amp;minObs)</div><div class="ttdoc">Indica la cantidad de puntos 3D que tengan como mínimo una cantidad dada de observaciones. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:267</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_serializer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_serializer.html">ORB_SLAM2::Serializer</a></div><div class="ttdoc">Clase encargada de la serialización (guarda y carga) del mapa. </div><div class="ttdef"><b>Definition:</b> Serializer.h:23</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a2394adfb627d9cf87ed8da78f6b0d709"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2394adfb627d9cf87ed8da78f6b0d709">ORB_SLAM2::KeyFrame::AddChild</a></div><div class="ttdeci">void AddChild(KeyFrame *pKF)</div><div class="ttdoc">Agrega un keyframe hijo al grafo de keyframes KeyFrame::mspChildrens. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:399</div></div>
<div class="ttc" id="_o_r_bextractor_8h_html"><div class="ttname"><a href="_o_r_bextractor_8h.html">ORBextractor.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_ae08ac0ce59e2c003c182f946de3b3bc0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#ae08ac0ce59e2c003c182f946de3b3bc0">ORB_SLAM2::KeyFrame::mDescriptors</a></div><div class="ttdeci">const cv::Mat mDescriptors</div><div class="ttdoc">Descriptores. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:572</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a535f0f7db34aca7c55ddadc2ad9f4a5f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a535f0f7db34aca7c55ddadc2ad9f4a5f">ORB_SLAM2::KeyFrame::GetCameraCenter</a></div><div class="ttdeci">cv::Mat GetCameraCenter()</div><div class="ttdoc">Lee el vector centro de cámara, igual al vector traslación para monocular. </div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:113</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a78f768a3601ac95f99dff3fd511f2a6e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a78f768a3601ac95f99dff3fd511f2a6e">ORB_SLAM2::KeyFrame::mRelocScore</a></div><div class="ttdeci">float mRelocScore</div><div class="ttdoc">Variable efímera usadas por la base de datos de keyframes. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:545</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a5653a9c7ccbb7703a131e0bff11c1f60"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a5653a9c7ccbb7703a131e0bff11c1f60">ORB_SLAM2::KeyFrame::mbf</a></div><div class="ttdeci">const float mbf</div><div class="ttdef"><b>Definition:</b> KeyFrame.h:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a71410c456b6354264ce0369883d96459"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a71410c456b6354264ce0369883d96459">ORB_SLAM2::KeyFrame::vRgb</a></div><div class="ttdeci">vector&lt; cv::Vec3b &gt; vRgb</div><div class="ttdoc">Color de los keypoints. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:575</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a75ad29c06d8c969a341d9f633b43569e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a75ad29c06d8c969a341d9f633b43569e">ORB_SLAM2::KeyFrame::mnFrameId</a></div><div class="ttdeci">const long unsigned int mnFrameId</div><div class="ttdoc">Id del frame asociado. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:494</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a2ecb2df01af804fb727c93948a28475f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a2ecb2df01af804fb727c93948a28475f">ORB_SLAM2::KeyFrame::GetBestCovisibilityKeyFrames</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; GetBestCovisibilityKeyFrames(const int &amp;N)</div><div class="ttdoc">Devuelve los primeros y mejores N elementos del vector de keyframes covisibles KeyFrame::mvpOrderedCo...</div><div class="ttdef"><b>Definition:</b> KeyFrame.cc:191</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a1c775159303dc3435fc05e73f30f2865"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a1c775159303dc3435fc05e73f30f2865">ORB_SLAM2::KeyFrame::mnTrackReferenceForFrame</a></div><div class="ttdeci">long unsigned int mnTrackReferenceForFrame</div><div class="ttdoc">Variable efímera usadas por Tracking. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:515</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html_a75767b3e2e5f8eb4b4b73cba161b097b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html#a75767b3e2e5f8eb4b4b73cba161b097b">ORB_SLAM2::KeyFrame::mnBALocalForKF</a></div><div class="ttdeci">long unsigned int mnBALocalForKF</div><div class="ttdoc">Variable efímera usadas por el mapeo local. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:523</div></div>
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